End-of-arm tool for robotic arm
An end-of-arm tool and an associated robotic arm are configured to place items (e.g., soft-sided merchandise) into a case. In an example, an end-of-arm tool is configured to grasp a surface (e.g., the top surface) of an item of merchandise and deposit the item into the case. Accordingly, as an item is deposited, the tool uses contact with that item to move previously placed items back into their preferred locations. After the penultimate item in a row of items is put in place, it may move out of position. As a final item is added to a row, the tool pivots the final item so that a side surface of the final item pushes the penultimate item into its correct position. The tool then pivots the final item to orient the top surface of the item horizontally, and places it in a predetermined position.
Latest Pearson Packaging Systems Patents:
This patent application claims priority to U.S. provisional patent application Ser. No. 62/632,961, titled “End-of-Arm Tool for Robotic Arm”, filed on 20 Feb. 2018, commonly assigned herewith, and hereby incorporated by reference.
BACKGROUNDRobotic arms are frequently used to load cases (e.g., cardboard boxes) with merchandise. An end-of-arm tool of a robotic arm may grasp one or more items of merchandise and place them in the case. In the case of soft-sided items of merchandise, some shifting of the items may occur upon release by the tool, particularly if the items are slick and/or if the items have uneven top or bottom surfaces and are placed on top of other items. The shifting may make it difficult to properly position subsequent items. It may be difficult to position the last item in a row of items in the case, particularly if the penultimate (next-to-last) item in the row of items is out-of-position. Ultimately, less than an optimal number of items will be placed in the case, or the case size may be increased to allow for the desired number of items to be included.
The detailed description is described with reference to the accompanying figures. In the figures, the left-most digit(s) of a reference number identifies the figure in which the reference number first appears. The same numbers are used throughout the drawings to reference like features and components. Moreover, the figures are intended to illustrate general concepts, and not to indicate required and/or necessary elements.
Overview
The disclosure describes the structure and operation of a system including an end-of-arm tool and an associated robotic arm. The system is configured to place items (e.g., soft-sided items of merchandise) into a case (e.g., a cardboard box). In an example, an end-of-arm tool is configured to grasp a surface (e.g., the top surface) of an item of merchandise. The tool deposits the item into a case. Additional items may be deposited, to form a row of items in the case. After an item is placed into a position, it may slip slightly from its designated position. This is particularly true when a slippery soft-sided item is placed on top of another slippery soft-sided item. Accordingly, as an item is deposited, the tool uses contact with that item to move previously placed items back into their preferred locations. After the penultimate (next to last) item in a row of items is put in place, it may slip and move slightly out of position. Accordingly, the final item to be placed in the row of items is used to push the penultimate item (and perhaps other items) into their proper positions. In an example, the tool pivots to orient the final item with its top surface at an angle to the horizon. A side surface of the final item is placed against the penultimate item, and the penultimate item is moved into its correct and predetermined position. In some instances, movement of the penultimate item may also move other items into their correct and predetermined positions. The tool then pivots the final item to orient the top surface of the item horizontally (i.e., to restore the final item to a right-side-up configuration), and places the final item in its correct and predetermined position.
Discussion of Prior Systems and Techniques
In
Example System and Techniques
In the example of
In the example of
In the example shown, the item 406 will be placed at the end of a row of previously-placed items, including a first item 502 in a row of items of merchandise, and the penultimate (next to last) item 504 in that row of items. However, the first item 502 and the penultimate item 504 in the row are out-of-position, in that both have slid slightly to the right of their predetermined and intended locations. The left side of the first item 502 should have been touching the left side of the case 408 (in the orientation shown), and the penultimate item 504 should have been touching the first item 502 (i.e., it should be located to the left of its shown location).
Example Methods
In some examples of the techniques discussed herein, the methods of operation may be performed by one or more application specific integrated circuits (ASIC), gate arrays, field programmable gate arrays or logic devices, ladder logic devices, or general-purpose processor(s) utilizing software defined in computer readable media. Any and/or all of such devices are shown generically as logic device 1102. In the examples and techniques discussed herein, the memory 1104 may comprise computer-readable media and may take the form of volatile memory, such as random-access memory (RAM) and/or non-volatile memory, such as read only memory (ROM) or flash RAM. Computer-readable media devices include volatile and non-volatile, removable and non-removable media implemented in any method or technology for storage of information such as computer-readable instructions, data structures, program modules, or other data for execution by one or more processors of a computing device. Examples of computer-readable media include, but are not limited to, phase change memory (PRAM), static random-access memory (SRAM), dynamic random-access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disks (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transitory medium that can be used to store information for access by a computing device.
As defined herein, computer-readable media does not include transitory media, such as modulated data signals and carrier waves, and/or signals.
At block 1108, a further item is deposited in the row of items. In the example, the further item pushes one or more earlier items into their respective preferred positions. In the example, the further item may be the penultimate item, and it may slip slightly, into an inappropriate location.
At block 1110, a final item is deposited into the row of items in the case. In an example, the end-of-arm tool pivots the final item into a position wherein a side surface of the final item may be used to push the penultimate item into its appropriate location. The end-of-arm tool then pivots to reorient the item to a vertical, right-side-up position, and the tool places the final item into its appropriate location.
At block 1204, the final item is pressed or pushed against the penultimate item to thereby move the penultimate item into a preferred position.
At block 1206, the final item is pivoted, (e.g., by operation of a pivoting fastener of an end-of-arm tool), to orient the top surface of the final item substantially horizontally (i.e., a right-side-up orientation).
At block 1208, the final item is placed or deposited into a position adjacent to the penultimate item and against a wall of the case.
At block 1302, an item to be placed in a case may be grasped by an end-of-arm tool, e.g., as seen in
At block 1304, the item may be moved into the case, e.g., as seen in
At block 1306, the item may be pivoted from a first position, wherein a top surface of the item is substantially horizontal, to a second position, wherein the top surface of the item is tilted, e.g., as seen in
At block 1308, a side surface of the item may be moved into contact with a penultimate item in a row of items in the case, e.g., as seen in
At block 1310, penultimate item may be pushed with the item held by the end-of-arm tool, to thereby locate the penultimate item in a preferred location, e.g., as seen in
At block 1312, item may be moved to a position between the penultimate item and a wall of the case, e.g., as seen in
At block 1314, item may be released by the end-of-arm tool, wherein the item is placed and/or located between the penultimate item and the wall of the case, e.g., as seen in
Although the subject matter has been described in language specific to structural features and/or methodological acts, it is to be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described. Rather, the specific features and acts are disclosed as exemplary forms of implementing the claims.
Claims
1. An end-of-arm tool for a robotic arm, the end-of-arm tool comprising:
- a frame of the end-of-arm tool connected to the robotic arm;
- a base having a fastener to connect to a surface of an item;
- a pivoting fastener to connect the frame to the base;
- an actuator connected to the base and to the frame, and configured to orient the base to desired orientations between an inclined orientation and a substantially horizontal orientation; and
- one or more computer-readable media storing computer-executable instructions that, when executed, cause one or more processors to perform acts comprising: grasping a top side of the item to be placed in a location within a case that is between a penultimate item and a wall of the case; pivoting the item from a first position, wherein the top side of the item is substantially horizontal, to a second position, wherein the top side of the item is tilted; moving a first side of the item into contact with the penultimate item in a row of items in the case; pushing the penultimate item with the first side of the item, to thereby remove portions of the penultimate item from the location within the case; moving the item to the location within the case that is between the penultimate item and the wall of the case; and releasing the top side of the item, wherein the top side of the item is adjacent to the first side of the item, which is in contact with the penultimate item, and is adjacent to a second side, opposite the first side, that is in contact with the wall of the case.
2. The end-of-arm tool as recited in claim 1, wherein the substantially horizontal orientation positions the item for placement into a predetermined location within the case.
3. The end-of-arm tool as recited in claim 1, wherein the inclined orientation positions the first side of the item the penultimate item.
4. The end-of-arm tool as recited in claim 1, wherein the fastener is configured to receive a partial vacuum, to connect the end-of-arm tool to the item in a releasable manner.
5. The end-of-arm tool as recited in claim 1, wherein the frame comprises:
- a pointed end portion configured to allow rotation of the base with respect to the frame into the inclined orientation.
6. One or more computer-readable media storing computer-executable instructions that, when executed, cause one or more processors to perform acts comprising:
- depositing a penultimate item in a row of items in a case, wherein deposition of the penultimate item comprises pushing at least one previously placed item into a respective preferred position; and
- depositing a final item in the row of items in the case, wherein deposition of the final item in the row of items comprises: pivoting the final item about a pivoting connector connecting a base to a frame, to orient a top surface of the final item at an angle from the horizontal; pressing the final item against the penultimate item to thereby move the penultimate item into a preferred position, wherein the moving is responsive to at least one of: movement of an end-of-arm tool, and pivoting of a fastener holding the final item to the end-of-arm tool; pivoting the final item about the pivoting connector connecting the base to the frame, to orient the top surface of the final item substantially horizontally; and depositing the final item in a position adjacent to the penultimate item.
7. The one or more computer-readable media as recited in claim 6, wherein depositing the final item in the position adjacent to the penultimate item comprises:
- releasing suction on the fastener connected to the top surface of the final item, wherein the releasing is performed when the final item is in the position adjacent to the penultimate item.
8. The one or more computer-readable media as recited in claim 6, additionally comprising:
- pushing an item placed before the penultimate item with the penultimate item, to thereby locate the item placed before the penultimate item in a preferred location.
9. A method, comprising:
- under control of one or more processors configured with executable instructions:
- grasping a top side of an item to be placed in a location within a case that is between a penultimate item and a wall of the case;
- pivoting the item from a first position, wherein the top side of the item is substantially horizontal, to a second position, wherein the top side of the item is tilted;
- moving a first side of the item into contact with the penultimate item in a row of items in the case;
- pushing the penultimate item with the first side of the item, to thereby remove portions of the penultimate item from the location within the case;
- moving the item to the location within the case that is between the penultimate item and the wall of the case; and
- releasing the top side of the item, wherein the item is placed between the penultimate item and the wall of the case.
10. The method of claim 9, wherein grasping the item to be placed in the case comprises:
- grasping the item with an end-of-arm tool.
11. The method of claim 9, wherein moving the item into the case comprises:
- moving the item, attached to an end-of-arm tool, by operation of a robotic arm.
12. The method of claim 9, wherein pivoting the item from the first position to the second position comprises:
- pivoting the item by operation of a pivoting fastener on an end-of-arm tool.
13. The method of claim 9, wherein moving the first side of the item into contact with the penultimate item comprises one or more of:
- pivoting the item by operation of a pivoting fastener on an end-of-arm tool; and
- moving the item by operation of a robotic arm.
14. The method of claim 9, wherein pushing the penultimate item with the item, to thereby locate the penultimate item in the location comprises one or more of:
- pivoting the item by operation of a pivoting fastener on an end-of-arm tool; and
- moving the item by operation of a robotic arm.
15. The method of claim 9, wherein moving the item to the location between the penultimate item and the wall of the case comprises one or more of:
- pivoting the item by operation of a pivoting fastener on an end-of-arm tool; and
- moving the item by operation of a robotic arm.
16. The method of claim 9, wherein releasing the item comprises one or more of:
- releasing suction applied to a connector, of an end-of-arm tool, holding the item.
17. The method of claim 9, wherein moving the first side of the item into contact with the penultimate item, pushing the penultimate item with the item, and moving the item to the location between the penultimate item and the wall of the case, are performed by actions comprising:
- pivoting the item from the second position to the first position; and
- moving the item about a pivoting fastener to position the item next to the wall of the case.
18. The method of claim 9, additionally comprising:
- pushing an item placed before the penultimate item with the penultimate item, to thereby locate the item placed before the penultimate item in a preferred location.
5778640 | July 14, 1998 | Prakken |
7017961 | March 28, 2006 | Parnell |
11059185 | July 13, 2021 | Baylor |
20070119125 | May 31, 2007 | Stenbom |
20080093371 | April 24, 2008 | Ubidia |
20110293397 | December 1, 2011 | Lomerson, Jr. |
Type: Grant
Filed: Feb 1, 2019
Date of Patent: Sep 20, 2022
Patent Publication Number: 20190255704
Assignee: Pearson Packaging Systems (Spokane, WA)
Inventor: Michael J. Johnson (Spokane, WA)
Primary Examiner: Kira Nguyen
Application Number: 16/265,838
International Classification: B25J 19/00 (20060101); B65G 47/91 (20060101); B25J 9/16 (20060101); B25J 15/06 (20060101); B25J 9/00 (20060101);